JP2016216213A - 平面保管設備における入出庫装置の制御方法 - Google Patents
平面保管設備における入出庫装置の制御方法 Download PDFInfo
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- JP2016216213A JP2016216213A JP2015104210A JP2015104210A JP2016216213A JP 2016216213 A JP2016216213 A JP 2016216213A JP 2015104210 A JP2015104210 A JP 2015104210A JP 2015104210 A JP2015104210 A JP 2015104210A JP 2016216213 A JP2016216213 A JP 2016216213A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
- B66C13/23—Circuits for controlling the lowering of the load
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0464—Storage devices mechanical with access from above
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
- B65G63/002—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations for articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Warehouses Or Storage Devices (AREA)
- Control And Safety Of Cranes (AREA)
- Manipulator (AREA)
Abstract
【解決手段】保管品載置用平面1の左右X方向の巾に対応する長さを有し且つ当該保管品載置用平面1の前後Y方向に横動自在なY方向横動体3、このY方向横動体3に、左右X方向に移動自在に支持された台車5、及びこの台車5に昇降自在に支持された保管品把持手段6を備え入出庫装置2を使用する平面保管設備において、前記Y方向横動体3の左右X方向両端部間の下方への撓み変形量Dx3,Dx5を求め、この撓み変形量Dx3,Dx5に基づいて、前記各保管品載置点に対する前記保管品把持手段6の下降量調整値を設定し、この下降量調整値だけ前記保管品把持手段6の下降量を減じるように制御する。
【選択図】図3
Description
2 入出庫装置
3 Y方向横動体
3a〜4b ガイドレール
5 台車
6 保管品把持手段
7A,7B 把持ユニット
8a〜9b 把持用柱状体
10,11 吊上げ具
10a,11a 係合具
10b,11b 昇降柱状体
12 距離計測手段
13,14 支持部材
Claims (4)
- 矩形状の保管品載置用平面と入出庫装置を備え、この入出庫装置が、前記保管品載置用平面の左右X方向の巾に対応する長さを有し且つ当該保管品載置用平面の前後Y方向に横動自在なY方向横動体、このY方向横動体に、左右X方向に移動自在に支持された台車、及びこの台車に昇降自在に支持された保管品把持手段を備え、前記Y方向横動体の前後Y方向の移動と前記台車の左右X方向の移動、及び前記保管品把持手段の昇降運動により、当該保管品把持手段が把持する保管品を、前記保管品載置用平面上に設定された各保管品載置点に対して入出庫出来るように構成された、平面保管設備における入出庫装置の制御方法において、前記Y方向横動体の左右X方向両端部間の下方への撓み変形量を求め、この撓み変形量に基づいて、前記各保管品載置点に対する前記保管品把持手段の下降量調整値を設定し、この下降量調整値だけ前記保管品把持手段の下降量を減じるように制御する、平面保管設備における入出庫装置の制御方法。
- 前記台車に、保管品載置用平面までの垂直距離を計測する距離計測手段を取り付け、この台車を、前記Y方向横動体の左右X方向両端部間の計測位置に移動させて、前記距離計測手段により保管品載置用平面までの垂直距離を計測し、この計測値に基づいて前記下降量調整値を設定する、請求項1に記載の平面保管設備における入出庫装置の制御方法。
- 前記保管品把持手段の下端部に、保管品載置用平面までの垂直距離を計測する距離計測手段を支持させ、前記Y方向横動体の左右X方向両端部間の計測位置に移動させると共に、前記保管品把持手段を前記台車から一定距離下降させた状態で、前記距離計測手段により保管品載置用平面までの垂直距離を計測し、この計測値に基づいて前記下降量調整値を設定する、請求項1に記載の平面保管設備における入出庫装置の制御方法。
- 前記距離計測手段が、前記保管品把持手段に把持させた支持部材に、当該保管品把持手段が把持する保管品の平面中心位置と一致するか又はその近傍に位置するように取り付けられる、請求項3に記載の平面保管設備における入出庫装置の制御方法。
Priority Applications (10)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015104210A JP6288470B2 (ja) | 2015-05-22 | 2015-05-22 | 平面保管設備における入出庫装置の制御方法 |
BR112017023219A BR112017023219A2 (pt) | 2015-05-22 | 2016-03-08 | método para controlar dispositivo de armazenamento/recuperação em instalação de armazenamento plana |
KR1020177033473A KR20180009748A (ko) | 2015-05-22 | 2016-03-08 | 평면 보관 설비에 있어서의 입출고 장치의 제어 방법 |
EP16799630.5A EP3281888A4 (en) | 2015-05-22 | 2016-03-08 | METHOD FOR CONTROLLING A RECEIVING / DISPENSING DEVICE IN A FLAT STORAGE DEVICE |
CN201680028983.7A CN107614397B (zh) | 2015-05-22 | 2016-03-08 | 平面保管设备的出入库装置的控制方法 |
CA2985166A CA2985166A1 (en) | 2015-05-22 | 2016-03-08 | Method for controlling storage/retrieval device in flat storage facility |
TW105106992A TWI659911B (zh) | 2015-05-22 | 2016-03-08 | 平面保管設備之入出庫裝置的控制方法 |
RU2017144768A RU2017144768A (ru) | 2015-05-22 | 2016-03-08 | Способ управления устройством для закладки на хранение и/или извлечения в хранилище с плоским полом |
PCT/JP2016/057113 WO2016189921A1 (ja) | 2015-05-22 | 2016-03-08 | 平面保管設備における入出庫装置の制御方法 |
US15/809,454 US10370224B2 (en) | 2015-05-22 | 2017-11-10 | Method for controlling storage/retrieval device in flat storage facility |
Applications Claiming Priority (1)
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JP2015104210A JP6288470B2 (ja) | 2015-05-22 | 2015-05-22 | 平面保管設備における入出庫装置の制御方法 |
Publications (2)
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JP2016216213A true JP2016216213A (ja) | 2016-12-22 |
JP6288470B2 JP6288470B2 (ja) | 2018-03-07 |
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JP2015104210A Expired - Fee Related JP6288470B2 (ja) | 2015-05-22 | 2015-05-22 | 平面保管設備における入出庫装置の制御方法 |
Country Status (10)
Country | Link |
---|---|
US (1) | US10370224B2 (ja) |
EP (1) | EP3281888A4 (ja) |
JP (1) | JP6288470B2 (ja) |
KR (1) | KR20180009748A (ja) |
CN (1) | CN107614397B (ja) |
BR (1) | BR112017023219A2 (ja) |
CA (1) | CA2985166A1 (ja) |
RU (1) | RU2017144768A (ja) |
TW (1) | TWI659911B (ja) |
WO (1) | WO2016189921A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109279243A (zh) * | 2017-07-20 | 2019-01-29 | 米哈伊尔·沃洛斯科夫 | 用于三维仓库系统的穿梭器 |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
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JP6256694B2 (ja) * | 2014-06-13 | 2018-01-10 | 株式会社ダイフク | コンテナ昇降搬送装置 |
ES2949949T3 (es) | 2016-02-08 | 2023-10-04 | Berkshire Grey Operating Company Inc | Sistemas y métodos para proporcionar el procesamiento de una variedad de objetos empleando planificación de movimiento |
CA3139272C (en) | 2016-12-09 | 2023-07-25 | Berkshire Grey, Inc. | Systems and methods for processing objects provided in vehicles |
CN106586436B (zh) * | 2017-01-11 | 2018-02-27 | 中国商用飞机有限责任公司 | 一种用于飞机零部件装配的吊装架及其吊装系统 |
US10649445B2 (en) | 2017-03-15 | 2020-05-12 | Berkshire Grey, Inc. | Systems and methods for storing, retrieving and processing objects including stackable semicircular towers |
CN113233078B (zh) | 2017-03-17 | 2022-09-16 | 伯克希尔格雷运营股份有限公司 | 用于处理物体的包括线性机架系统的系统和方法 |
CN114873119B (zh) | 2017-03-20 | 2023-10-31 | 伯克希尔格雷营业股份有限公司 | 用于处理包括移动矩阵载体系统的物体的系统和方法 |
WO2018175294A1 (en) | 2017-03-20 | 2018-09-27 | Berkshire Grey, Inc. | Systems and methods for processing objects including an auto-shuttle system |
US10632610B2 (en) * | 2017-03-20 | 2020-04-28 | Berkshire Grey, Inc. | Systems and methods for processing objects including a zone gantry system |
US10894674B2 (en) | 2017-03-20 | 2021-01-19 | Berkshire Grey, Inc. | Systems and methods for processing objects including transport vehicles |
CN110662707B (zh) | 2017-03-23 | 2021-12-14 | 伯克希尔格雷股份有限公司 | 用于处理包括自动移动矩阵箱的物体的系统和方法 |
CN113460559B (zh) | 2017-03-23 | 2023-04-07 | 伯克希尔格雷营业股份有限公司 | 用于处理包括自动移动矩阵载体的物体的系统和方法 |
US10532884B2 (en) * | 2017-05-24 | 2020-01-14 | Hall Labs Llc | Mechanical end effector for planar motion mechanism |
WO2019084330A1 (en) | 2017-10-27 | 2019-05-02 | Berkshire Grey, Inc. | SYSTEMS AND METHODS FOR PROCESSING OBJECTS COMPRISING MOBILE MATRIX SUPPORT SYSTEMS |
DE102018215780A1 (de) * | 2018-09-18 | 2020-03-19 | Robert Bosch Gmbh | Vorrichtung und Verfahren zum Handhaben von Lagereinheiten |
DE102021200698A1 (de) | 2021-01-27 | 2022-07-28 | Gebhardt Fördertechnik GmbH | Lager- und Entnahmesystem sowie Behälter für ein Lager- und Entnahmesystem |
CN117500735A (zh) * | 2021-06-24 | 2024-02-02 | 村田机械株式会社 | 输送车系统 |
WO2023059485A1 (en) | 2021-10-06 | 2023-04-13 | Berkshire Grey Operating Company, Inc. | Dynamic processing of objects provided in elevated vehicles with evacuation systems and methods for receiving objects |
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-
2015
- 2015-05-22 JP JP2015104210A patent/JP6288470B2/ja not_active Expired - Fee Related
-
2016
- 2016-03-08 BR BR112017023219A patent/BR112017023219A2/pt not_active Application Discontinuation
- 2016-03-08 RU RU2017144768A patent/RU2017144768A/ru not_active Application Discontinuation
- 2016-03-08 TW TW105106992A patent/TWI659911B/zh not_active IP Right Cessation
- 2016-03-08 EP EP16799630.5A patent/EP3281888A4/en not_active Withdrawn
- 2016-03-08 WO PCT/JP2016/057113 patent/WO2016189921A1/ja active Application Filing
- 2016-03-08 CA CA2985166A patent/CA2985166A1/en not_active Abandoned
- 2016-03-08 CN CN201680028983.7A patent/CN107614397B/zh active Active
- 2016-03-08 KR KR1020177033473A patent/KR20180009748A/ko not_active Application Discontinuation
-
2017
- 2017-11-10 US US15/809,454 patent/US10370224B2/en active Active
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JPS60207784A (ja) * | 1984-03-31 | 1985-10-19 | 株式会社東芝 | ハンドリング位置修正装置 |
JP2005170554A (ja) * | 2003-12-09 | 2005-06-30 | Daifuku Co Ltd | 搬送設備 |
WO2014142107A1 (ja) * | 2013-03-15 | 2014-09-18 | 株式会社ダイフク | 物品搬送用箱の搬送装置 |
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Also Published As
Publication number | Publication date |
---|---|
TW201702157A (zh) | 2017-01-16 |
EP3281888A4 (en) | 2019-01-09 |
BR112017023219A2 (pt) | 2018-08-07 |
WO2016189921A1 (ja) | 2016-12-01 |
US10370224B2 (en) | 2019-08-06 |
CN107614397A (zh) | 2018-01-19 |
CN107614397B (zh) | 2019-08-23 |
RU2017144768A3 (ja) | 2019-06-24 |
KR20180009748A (ko) | 2018-01-29 |
RU2017144768A (ru) | 2019-06-24 |
TWI659911B (zh) | 2019-05-21 |
EP3281888A1 (en) | 2018-02-14 |
US20180086608A1 (en) | 2018-03-29 |
JP6288470B2 (ja) | 2018-03-07 |
CA2985166A1 (en) | 2016-12-01 |
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